version: 66.13
glider: 401
mission: 22
dive: 14
start: 7 26 117 22 48 5
data:
$ID,401
$MISSION,22
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,55
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2020
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2501
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,260717,222656,5916.7222,-17025.6270,6,1.0,39,8.6,0.4,97.1,9,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.1
$GPS2,260717,222656,5916.7222,-17025.6270,6,1.0,39,8.6,0.4,97.1,9,3.0
$SPEED_LIMITS,0.173,0.313
$TGT_NAME,W1N
$TGT_LATLONG,5926.160,-17054.359
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.262947,0.169108
$KALMAN_X,2730.865967,988.392151,350.187592,-4200.362793,162.937408
$KALMAN_Y,1012.192871,560.329529,171.335419,864.513733,-104.879517
$MHEAD_RNG_PITCHd_Wd,294.1,32213,-14.6,-10.000,-17.74,4419
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.77,-292.5,2406,1888,2403,4092,0.0,0.0,0,21,6.25,0.00,-3.92,0.000,20486,0.031,0.000,1802,1889,2847,2847,4095,0,0,0,0,0,0,26.21,25.18,26.24,10.32,50.19
$GC,23,-1.77,-292.5,1801,1889,2847,4095,0.2,0.0,1,32,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2847,2847,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.42,50.86
$GC,67,-1.77,-292.5,1801,1889,2848,4094,4.1,-10.0,7,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2848,2848,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.41,50.78
$GC,111,-1.77,-292.5,1801,1889,2849,4094,9.9,-13.6,13,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2849,2849,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.42,50.19
$GC,155,-1.77,-292.5,1801,1889,2849,4095,15.7,-12.9,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2850,2850,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.42,49.72
$GC,200,-1.77,-292.5,1801,1889,2852,4095,21.0,-11.2,25,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2850,2850,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.39,49.29
$GC,243,-1.77,-292.5,1801,1889,2852,4095,25.8,-11.3,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2852,2852,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.38,48.70
$GC,286,-1.77,-292.5,1801,1889,2853,4094,31.0,-12.2,37,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2853,2853,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.36,47.63
$GC,331,-1.77,-292.5,1800,1889,2854,4094,36.3,-12.3,43,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2854,2854,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.35,47.08
$GC,374,-1.77,-292.5,1801,1889,2855,4095,41.7,-12.1,49,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2855,2855,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.33,46.81
$GC,418,-1.77,-292.5,1800,1889,2856,4095,47.2,-12.5,55,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2856,2856,4095,0,0,0,0,0,0,26.62,26.64,26.63,10.33,46.14
$GC,462,-1.77,-292.5,1801,1889,2857,4095,52.8,-13.4,61,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2858,2858,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.33,46.06
$GC,507,-1.77,-292.5,1801,1889,2858,4094,58.4,-12.6,67,515,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,1889,2858,2858,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.33,46.45
$STATE,522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,522,begin apogee
$GC,527,-0.45,0.0,1801,2021,2858,4094,60.7,-12.8,69,554,4.43,0.00,17.95,1.222,10244,0.071,0.000,2205,2021,2500,2500,4094,0,0,0,0,0,0,26.32,25.73,24.79,10.32,45.58
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,557,1.77,292.5,2204,2021,2500,4094,63.0,0.0,72,585,7.47,0.00,17.38,1.205,11270,0.043,0.000,2907,2021,2158,2158,4094,0,0,0,0,0,0,25.91,26.12,24.41,10.24,45.23
$GC,622,1.77,292.5,2906,2021,2158,4094,58.6,10.7,80,631,0.00,3.28,0.00,0.000,260,0.000,0.070,2907,3185,2158,2158,4095,0,0,0,0,0,0,25.87,25.52,25.89,10.17,45.66
$GC,679,1.77,292.5,2906,3185,2156,4095,50.5,14.6,88,689,0.00,3.03,0.00,0.000,1030,0.000,0.034,2907,2036,2156,2156,4094,0,0,0,0,0,0,25.76,25.72,25.79,10.16,45.23
$GC,726,1.77,292.5,2906,2035,2155,4094,44.4,13.4,94,735,0.00,3.47,0.00,0.000,516,0.000,0.089,2907,820,2155,2155,4094,0,0,0,0,0,0,26.08,25.71,26.10,10.16,45.62
$GC,797,1.77,292.5,2906,819,2153,4094,34.0,14.4,104,807,0.00,2.97,0.00,0.000,1030,0.000,0.037,2907,1978,2153,2153,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.15,45.74
$GC,844,1.77,292.5,2906,1978,2152,4094,28.1,12.9,110,853,0.00,3.45,0.00,0.000,260,0.000,0.073,2907,3212,2151,2151,4094,0,0,0,0,0,0,26.22,25.85,26.24,10.15,45.70
$GC,902,1.77,292.5,2906,3212,2150,4094,19.5,14.7,118,911,0.00,3.12,0.00,0.000,1030,0.000,0.035,2907,2015,2149,2149,4094,0,0,0,0,0,0,26.03,25.98,26.06,10.14,46.29
$GC,948,1.77,292.5,2906,2015,2149,4094,14.0,10.5,124,957,0.00,3.38,0.00,0.000,516,0.000,0.090,2907,825,2148,2148,4094,0,0,0,0,0,0,26.32,25.92,26.33,10.18,47.40
$GC,1045,1.77,292.5,2906,824,2145,4094,2.2,12.3,138,1054,0.00,3.03,0.00,0.000,1030,0.000,0.035,2907,2012,2145,2145,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.22,48.85
$STATE,1062,end climb,SURFACE_DEPTH_REACHED
$STATE,1062,begin surface coast
$FINISH,0.2,1.016451
$STATE,1077,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1174,0.00,0.000,0,0,2145,305.66
$SM_GC,1.14,27.83,0.32,0.00,0.028,0.056,0.000,240,1889,2145,-6.61,0.73,305.66,0,0,0,0,0,0,26.16,26.15,26.21
$IRIDIUM_FIX,5957.10,-16911.74,260717,215214
$TT8_MAMPS,0.025466,0.246421
$HUMID,49.88
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,24.41,0.611
$10V_AH,10.30,0.650
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,45.975,26.725,35.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.470,60.915,137.958,589.736,39.717,33.435,366.362,0.000,343.768,0.000,0.543,0.000
$DEVICE_MAMPS,71.145,89.505,1221.705,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.816,385.707,305.420,452.447,587.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,331084
$DATA_FILE_SIZE,14319,142
$CAP_FILE_SIZE,29686,0
$CFSIZE,1024409600,1018822656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260717,230831,5916.708,-17026.121,4,0.9,18,8.6,0.0,197.3,9,4.9